Error Calibration and FDI Technology of Gyros in Redundant IMU

In this paper, we analyzed calibration method and fault detection & isolation method for gyro errors. A six sensors configuration redundant inertial measurement unit (IMU) is used for simulation. The gyro´s error characters have been considered, equations to estimate the error coefficients have been formulated and validated using data got from turntable test, the fault detection & isolation (FDI) method also has been used and tested using calibrated data, the result shows that this method is useful and reliable, would be a good way to be used in redundant IMU sensor for FDI.